Posted on Apr 21, 2012    5246

The microcontroller is able to make about 7000 complete line-following decisions per second, which is almost 7 decisions per millimeter when the robot is going full speed. By upping the clock, unrolling loops, and removing my wireless debugging and extraneous code, I could increase the number of decisions per second.

Click here to download the full size of the above Circuit.

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